CN108483297B - A kind of vehicle-mounted sprayer of parallel Wire driven robot - Google Patents

A kind of vehicle-mounted sprayer of parallel Wire driven robot Download PDF

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Publication number
CN108483297B
CN108483297B CN201810216454.0A CN201810216454A CN108483297B CN 108483297 B CN108483297 B CN 108483297B CN 201810216454 A CN201810216454 A CN 201810216454A CN 108483297 B CN108483297 B CN 108483297B
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China
Prior art keywords
tower
flexible cable
king
tape player
driven robot
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CN201810216454.0A
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Chinese (zh)
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CN108483297A (en
Inventor
钱森
王春航
訾斌
王道明
鲍坤龙
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Hefei University of Technology
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Hefei University of Technology
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66DCAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28Other constructional details
    • B66D1/30Rope, cable, or chain drums or barrels
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01MCATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0025Mechanical sprayers
    • A01M7/0032Pressure sprayers
    • A01M7/0042Field sprayers, e.g. self-propelled, drawn or tractor-mounted
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66DCAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/02Driving gear
    • B66D1/14Power transmissions between power sources and drums or barrels

Abstract

The invention discloses a kind of vehicle-mounted sprayers of parallel Wire driven robot, including Wire driven robot mechanism and pesticide sprayer, Wire driven robot mechanism includes four mutually isostructural flexible cable radio and tape players: the first flexible cable radio and tape player, the second flexible cable radio and tape player, third flexible cable radio and tape player, the 4th flexible cable radio and tape player.First flexible cable radio and tape player includes secondary tower, king-tower, secondary tower lifting device, Wire driven robot device, Shift lever, driving device and pedestal.The secondary tower lifting device is connected with Wire driven robot device by Shift lever.When Shift lever is allocated to Wire driven robot device, driving device driving secondary tower lifting device operates and secondary tower is driven to go up and down.When Shift lever is allocated to secondary tower lifting device, driving device drives the operating of Wire driven robot device, and Wire driven robot device is connect by two traction flexible cables with pesticide sprayer.Four flexible cable radio and tape players are respectively arranged on four angles in farmland, and each top that pesticide sprayer is suspended on to farmland by two traction flexible cables sprays insecticide to the crops on farmland.

Description

A kind of vehicle-mounted sprayer of parallel Wire driven robot
Technical field
The present invention relates to the field of pesticide delivery of crops in farmland, specifically, it is related to a kind of parallel flexible cable The vehicle-mounted sprayer of driving.
Background technique
For a long time, much regional in China, manually spraying is the major way of Pesticide use, inefficiency (1~2 mu/ Hour), the activity duration is limited, manipulating object is limited, damages staff's health;Unmanned plane or agricultural aircraft spray, at This is high, and drugloading rate is smaller, and operation maintenance difficulty is big, it is difficult to universal.Pesticide-spraying cart takes up a large area, and mobility is poor, operation When easy damaged crops, manipulating object is limited.
Summary of the invention
Present invention aim to solve defect present in above-mentioned pesticide spraying mode, provide a kind of parallel soft The vehicle-mounted sprayer of rope driving.
A kind of vehicle-mounted sprayer of parallel Wire driven robot, including Wire driven robot mechanism 9 and pesticide sprayer 8, it is described soft Rope driving mechanism 9 includes the identical first flexible cable radio and tape player 91 of structure, the second flexible cable radio and tape player 92,93 and of third flexible cable radio and tape player 4th flexible cable radio and tape player 94;The first flexible cable radio and tape player 91, the second flexible cable radio and tape player 92, third flexible cable radio and tape player 93 and the 4th Flexible cable radio and tape player 94 constitutes a region, the first flexible cable radio and tape player 91, the second flexible cable radio and tape player 92,93 and of third flexible cable radio and tape player 4th flexible cable radio and tape player 94 is connected to pesticide sprayer 8 by two traction flexible cables 41 respectively, and pesticide sprayer 8 is made to be suspended on institute State the top in region.
The first flexible cable radio and tape player 91 includes secondary tower 1, king-tower 2, secondary tower lifting device 3, Wire driven robot device 4, shift Bar 5, driving device 6 and pedestal 7, the king-tower 2 are four prism type truss structure, and king-tower 2 is upright in the centre of pedestal 7 Position, the secondary tower 1 are similarly four prism type truss structure, and secondary tower 1 is sleeved on vertically in king-tower 2, the secondary tower lifting dress The 3 upper planes for being located at pedestal 7 to be set, and are located at the side of king-tower 2, the Wire driven robot device 4 is located at the upper plane of pedestal 7, and Positioned at the other side of king-tower 2, the driving device 6 is arranged in the middle position of secondary tower lifting device 3 Yu Wire driven robot device 4, Secondary tower lifting device 3 and Wire driven robot device 4 are connected by Shift lever 5, when Shift lever 5 is allocated to Wire driven robot device 4, driving Device 6 drives secondary tower lifting device 3 to operate and secondary tower 1 is driven to go up and down, when Shift lever 5 is allocated to secondary tower lifting device 3, driving dress The operating of 6 driving Wire driven robot devices 4 is set, Wire driven robot device 4 is connect by two traction flexible cables 41 with pesticide sprayer 8.
When work, the first flexible cable radio and tape player 91, the second flexible cable radio and tape player 92, third flexible cable radio and tape player the 93, the 4th are soft Rope radio and tape player 94 is respectively arranged on four angles in farmland 10, and the first flexible cable radio and tape player 91, the second flexible cable radio and tape player 92, third are soft Pesticide sprayer 8 is suspended on farmland 10 by two traction flexible cables 41 respectively by rope radio and tape player 93, the 4th flexible cable radio and tape player 94 Flexible cable 47, agriculture are drawn in top, the first flexible cable tower 91, the second flexible cable tower 92, third flexible cable tower 93, the collaboration folding and unfolding of the 4th flexible cable tower 94 Medicine sprinkler 8 implements the pesticide spraying to the crops in farmland 10.
The technical solution further limited is as follows:
The secondary tower 1 includes that four 11, two, secondary tower pillar, 13, two, secondary tower movable pulley, 12, two, secondary tower fixed pulleys are dynamic Pulley base 14 and two rope stretching hole seats 15.Four secondary tower pillars 11 are combined into four prism type structure, adjacent two secondary tower branch By several round tube support connections between column 11, the outside of the secondary tower pillar 11 is longitudinally equipped with embedded sliding slot up and down 111.Corresponding two sides in the upper end end of secondary tower 1 are separately connected a secondary tower fixed pulley 12, and two of the lower end of secondary tower 1 Side is separately connected a movable pulley seat 14, installs secondary tower movable pulley 13, described two rope stretching hole seats on the movable pulley seat 14 15 are connected to the upper end of secondary tower 1, and rope stretching hole seat 15 is equipped with rope hole.
The king-tower 2 include four 21, two, king-tower fixed pulleys restrict admittedly 23, two, the king-tower pillar of block 22, four stop over it is flat 24, four support rods 25 of platform and two upper limit blocks 26.Four king-tower pillars 23 are combined into four prism type structure, adjacent By several round tube support connections between two king-tower pillars 23, the inside of the king-tower pillar 23 is longitudinally equipped with buckle-type sliding rail 231, the buckle-type sliding rail 231 is inserted in embedded sliding slot 111, and can be slided up and down along embedded sliding slot 111.The master A platform 24 of stopping over is separately connected on two diagonal king-tower pillars 23 of 2 inside of tower, described two platforms 24 of stopping over are positioned at one In a plane, and close to the lower end of king-tower 2.One is separately connected on two king-tower pillars 23 of 2 inside of king-tower Upper limit block 26, described two upper limit blocks 26 are located in plane, and close to the upper end end of king-tower 2.It is described The top of four king-tower pillars 23 is separately connected a king-tower fixed pulley 21, wherein the top of two king-tower pillars 23 is separately connected One block 22 of restricting admittedly.The outside of four king-tower pillars 23 is separately connected the upper end of a support rod 25, under support rod 25 End is hinged on the upper plane of pedestal 7.
The secondary tower lifting device 3 is equipped with elevator axis 31, is set with two winding drums 32, winding drum 32 on the elevator axis 31 Outer circle on installation lifting flexible cable 33.One end of the elevator axis 31 is mounted on right support abutment 34, and the outside of right support abutment 34 is equipped with The other end of ratchet mechanism 35, the elevator axis 31 is mounted on left support abutment 36, and 31 end of the elevator axis installation held herein Driven pulley 37 and ratchet mechanism 35, the ratchet mechanism 35 can limit elevator axis 31 and only rotate to a direction.It is described from Movable belt pulley 37 is connect by two V-shape belts 371 with the driving pulley 38 being mounted on left support abutment 36, and the driving pulley 38 is logical Connecting shaft 39 is crossed to connect with the first helical gear 391.The Wire driven robot device 4 is identical as 3 structure of secondary tower lifting device, and flexible cable is driven Center line of the dynamic device 4 with secondary tower lifting device 3 along pedestal 7 arranges that the Wire driven robot device 4 is equipped with traction in mirror symmetry Flexible cable 41, second connecting rod 42 and the second helical gear 43.Second helical gear 43 is identical as 391 structure of the first helical gear.
The elevator axis 31 in the outer circle of suit 32 position of winding drum along being axially arranged with four half slots 311, described half It is equipped with several steel balls 312 in circular groove, is equipped with partition 313 between two winding drums 32.The ratchet mechanism 35 includes ratchet 351, pawl 352, control-rod 353 and first connecting rod 354, the first connecting rod 354 are connect with Shift lever 5, pull out first Connecting rod 354, pawl 352 and ratchet 351 disengage.The second connecting rod 42 is identical as the structure of first connecting rod 354.
The right support abutment 34 includes right gusseted plate 341,342, two right rollers 343 of right slide plate and right bull headction 344, the right gusseted plate 341 is mounted on the upper plane of right slide plate 342, and the downside of right slide plate 342 is equipped with downwardly open U Shape slot, U-lag is interior to install two right rollers 343, and right roller 343 is slided in right bull headction 344.
Left support abutment 36 includes 363, four 361, two connecting shaft support plates 362 of left gusseted plate, left skateboard left rollers 364 and two left bull headctions 365, the left gusseted plate 361 and two connecting shaft support plates 362 be mounted on left skateboard 363 upper plane, the downside of the left skateboard 363 are equipped with two downwardly open U-lags, in two downwardly open U-lags Two left rollers 364 are installed respectively, left roller 364 is slided on left bull headction 365.
The Shift lever 5 include link block 51, two 52, three Shift lever fixing seats 53 of link block with holes, cross tube 54, Sheer pole 55 and shift handle 56, two link block 52, shift handle 56 and link blocks 51 with holes are successively sleeved on cross tube 54 On sheer pole 55, three Shift lever fixing seats 53 are set on the sheer pole 55, the Shift lever fixing seat 53 is fixed on bottom On seat 7.The link block with holes 52 is equipped with upper hole 521 and lower opening 522, and the upper hole 521 and second connecting rod 42 connect, under described Hole 522 is connect with first connecting rod 354.
The driving device 6 includes decelerating motor 61, first shaft coupling 62 and third helical gear 63, the first shaft coupling 62 and third helical gear 63 be mounted on the output shaft of decelerating motor 61.
The pedestal 7 includes moving trolley 71 and fixed bottom plate 72, and the moving trolley 71 is equipped with rectangle loading plate, Loading plate is equipped with cart handle 717 along the rear end end of direction of advance, and the middle position of plane is along length side on loading plate To king-tower resettlement groove 711 is equipped with, being set on the left of direction of advance there are two left skateboard resettlement groove 712 for king-tower resettlement groove 711 is main Tower resettlement groove 711 is set on the right side of direction of advance there are two right slide plate resettlement groove 713, the edge advance side of king-tower resettlement groove 711 To right side middle position be equipped with gear shifting box 714, the left side middle position along direction of advance of king-tower resettlement groove 711 is equipped with motor Seat 715, the position at four angles in downside of loading plate is respectively equipped with a universal wheel 716.The top of left skateboard resettlement groove 712 is set There are left U-shaped pressing plate 7121 and left pressing plate 7122, the top of right slide plate resettlement groove 713 is equipped with right U-shaped pressing plate 7131 and right pressing plate 7132.Right bull headction 344 is fixed on the bottom of right slide plate resettlement groove 713, and left bull headction 365 is fixed on left skateboard resettlement groove 712 bottom.A universal wheel fixing seat 721 is respectively equipped on four angles of 72 upper side plane of fixed bottom plate, it is described solid Reservation 721 includes two support plates and a studs, with the wheel shaft of studs substitution universal wheel 716 by universal wheel It is fixed on fixed bottom plate 72.
The pesticide sprayer 8 includes mounting base 81, petrol engine 82, pesticide pump 83, atomizer assembly 84, agriculture Medicine-chest 85 and shaft coupling 87, the mounting base 81 are octagon steel plate, the upper side plane installation gasoline hair of mounting base 81 Motivation 82, pesticide pump 83 and pesticide box 85.
The petrol engine 82 is equipped with petrol engine output shaft 821, and the pesticide pump 83 is equipped with pesticide pump input shaft 831, petrol engine output shaft 821 is connected with pesticide pump input shaft 831 by second shaft coupling 87.
The underside plan of mounting base 81 installs atomizer assembly 84, and the pesticide box 85 is the length of two lower parts connection The upper end of cube cabinet, one of rectangular box body is equipped with oil filler 851, and the lower end side of another rectangular box body is equipped with L shape delivery pipe with solenoid valve, the L shape delivery pipe are connected to the import of pesticide pump 83, and the outlet of pesticide pump 83 passes through one Root U-shaped delivery pipe is connect with atomizer assembly 84.It is respectively equipped with four solid rope stakes 86 on the side of the mounting base 81, four The square distribution of a solid rope stake 86, the solid rope stake 86 include two restrict admittedly 861, two, column solid slings 862 and two sliding sleeves 863, the sliding sleeve 863 is sleeved on solid rope column 861, and one end of the solid sling 862 and sliding sleeve 863 connect, Gu sling 862 The other end is equipped with solid cord hole, compresses fastening by the end of solid cord hole and traction flexible cable 41.
Compared with prior art, advantageous effects of the invention are embodied in following several aspects:
(1) present invention realizes pesticide automatic spraying by Wire driven robot mechanism and pesticide sprayer, and operator is far from agriculture Medicine sprinkling scene, effective protection operator's health.
(2) present invention has mobility good, high-efficient, up to 30~40 mus/hour, carries medicine and is up to 100L, safety collar It protects, spray is uniform.
(3) pesticide utilization rate of the present invention is high, and different height crops can be soft by adjusting four of Wire driven robot mechanism The height of rope radio and tape player meets the needs of spray drug operation.
Detailed description of the invention
Fig. 1 is working state schematic representation 1 of the present invention.
Fig. 2 is the first flexible cable radio/player structure schematic diagram of the invention.
Fig. 3 is secondary tower of the present invention signal.
Fig. 4 is king-tower schematic diagram of the present invention.
Fig. 5 is secondary tower lifting device of the present invention, Wire driven robot device, Shift lever positional diagram.
Fig. 6 is secondary tower lifting device schematic diagram of the present invention.
Fig. 7 is ratchet mechanism schematic diagram of the present invention.
Fig. 8 is elevator axis of the present invention and winding drum assembling schematic diagram.
Fig. 9 is gear lever structure schematic diagram of the present invention.
Figure 10 is driving device structure schematic diagram of the present invention.
Figure 11 is moving trolley structural schematic diagram of the present invention.
Figure 12 is the fixed structural diagram of base plate of the present invention.
Figure 13 is that the embedded sliding slot of secondary tower of the present invention and the buckle-type sliding rail of king-tower cooperate schematic diagram.
Figure 14 is that the upper limit of the present invention is stop location schematic diagram.
Figure 15 is pesticide sprayer structural schematic diagram of the present invention.
Figure 16 is pesticide sprayer top view of the present invention.
Figure 17 is present invention rope pilework schematic diagram admittedly.
Serial number in upper figure: Wire driven robot mechanism 9, the first flexible cable radio and tape player 91, secondary tower 1, secondary tower pillar 11, embedded sliding slot 111, secondary tower fixed pulley 12, secondary tower movable pulley 13, movable pulley seat 14, rope stretching hole seat 15, king-tower 2, king-tower fixed pulley 21, block of restricting admittedly 22, king-tower pillar 23, buckle-type sliding rail 231, platform 24 of stopping over, support rod 25, upper limit block 26, secondary tower lifting device 3, volume Raise axis 31, half slot 311, steel ball 312, partition 313, winding drum 32, lifting flexible cable 33, right support abutment 34, right gusseted plate 341, right slide plate 342, right roller 343, right bull headction 344, ratchet mechanism 35, ratchet 351, pawl 352, control-rod 353, One connecting rod 354, left support abutment 36, left gusseted plate 361, connecting shaft support plate 362, left skateboard 363, left roller 364, left I-shaped Rail 365, driven pulley 37, V-shape belt 371, driving pulley 38, connecting shaft 39, the first helical gear 391, Wire driven robot device 4, draw flexible cable 41, second connecting rod 42, the second helical gear 43, Shift lever 5, link block 51, link block with holes 52, upper hole 521, under Hole 522, Shift lever fixing seat 53, cross tube 54, sheer pole 55, shift handle 56, driving device 6, decelerating motor 61, first Axis device 62, third helical gear 63, pedestal 7, moving trolley 71, king-tower resettlement groove 711, left skateboard resettlement groove 712, left U-shaped pressing plate 7121, left pressing plate 7122, right slide plate resettlement groove 713, right U-shaped pressing plate 7131, right pressing plate 7132, gear shifting box 714, motor cabinet 715, Universal wheel 716, cart handle 717, fixed bottom plate 72, fixing seat 721, pesticide sprayer 8, mounting base 81, petrol engine 82, petrol engine output shaft 821, pesticide pump 83, pesticide pump input shaft 831, atomizer assembly 84, pesticide box 85, dosing Mouth 851, solid rope stake 86, column 861 of restricting admittedly, solid sling 862, sliding sleeve 863, second shaft coupling 87, the second flexible cable radio and tape player 92, third Flexible cable radio and tape player 93, the 4th flexible cable radio and tape player 94, farmland 10.
Specific embodiment
With reference to the accompanying drawing, the invention is further illustrated by the examples.
Embodiment one
Referring to Fig. 1, a kind of vehicle-mounted sprayer of parallel Wire driven robot, including Wire driven robot mechanism 9 and pesticide sprayer 8, the Wire driven robot mechanism 9 includes the identical first flexible cable radio and tape player 91 of structure, the second flexible cable radio and tape player 92, third flexible cable receipts Put machine 93, the 4th flexible cable radio and tape player 94.The first flexible cable radio and tape player 91, the second flexible cable radio and tape player 92, third flexible cable radio and tape player 93, the 4th flexible cable radio and tape player 94 is respectively arranged on four angles in farmland 10, the first flexible cable radio and tape player 91, the second flexible cable radio and tape player 92, third flexible cable radio and tape player 93, the 4th flexible cable radio and tape player 94 pass through two traction flexible cables 41 (nylon flexible cable, diameter 16mm) respectively Pesticide sprayer 8 is suspended on to the top in farmland 10.
Referring to fig. 2, the first flexible cable radio and tape player 91 includes secondary tower 1, king-tower 2, secondary tower lifting device 3, Wire driven robot dress Set 4, Shift lever 5, driving device 6 and pedestal 7.The king-tower 2 is four prism type truss structure, and king-tower 2 is upright in bottom The middle position of seat 7, the secondary tower 1 are similarly four prism type truss structure, and secondary tower 1 is sleeved on vertically in king-tower 2, the pair Tower lifting device 3 is located at the upper plane of pedestal 7, and is located at the side of king-tower 2, and the Wire driven robot device 4 is located at the upper of pedestal 7 Plane, and it is located at the other side of king-tower 2, the driving device 6 is arranged in secondary tower lifting device 3 and Wire driven robot device 4 Between position, secondary tower lifting device 3 and Wire driven robot device 4 are connected by Shift lever 5, when Shift lever 5 is allocated to Wire driven robot device 4 When, driving device 6 drives secondary tower lifting device 3 to operate and secondary tower 1 is driven to go up and down, when Shift lever 5 is allocated to secondary tower lifting device 3 When, driving device 6 drives Wire driven robot device 4 to operate, and Wire driven robot device 4 passes through two traction flexible cables 41 and pesticide sprayer 8 connections.
Referring to Fig. 3, the secondary tower 1 includes four 11, two, secondary tower pillar, 12, two, secondary tower fixed pulley secondary tower movable pulleys 13, two movable pulley seats 14 and two rope stretching hole seats 15.Four secondary tower pillars 11 are combined into four prism type structure, and adjacent two By the support connection of several round tubes between root secondary tower pillar 11, the outside of the secondary tower pillar 11 is longitudinally equipped with up and down embedding Enter formula sliding slot 111.Corresponding two sides in the upper end end of secondary tower 1 are separately connected a secondary tower fixed pulley 12, under secondary tower 1 Two sides at end are separately connected a movable pulley seat 14, and secondary tower movable pulley 13 is installed on the movable pulley seat 14, described two Rope stretching hole seat 15 is connected to the upper end of secondary tower 1, and rope stretching hole seat 15 is equipped with rope hole.Referring to fig. 4, Figure 13 and Figure 14, the master Tower 2 includes that four 21, two, king-tower fixed pulleys, 23, two, the king-tower pillar of block 22, four of restricting admittedly is stopped over 24, four support rods of platform 25 and two upper limit blocks 26.Four king-tower pillars 23 are combined into four prism type structure, adjacent two king-tower pillars 23 Between by the support connection of several round tubes, the inside of the king-tower pillar 23 is longitudinally equipped with buckle-type sliding rail 231, the buckle-type Sliding rail 231 is inserted in embedded sliding slot 111, and can be slided up and down along embedded sliding slot 111.On the inside of the king-tower 2 diagonally A platform 24 of stopping over is separately connected on two king-tower pillars 23, described two platforms 24 of stopping over connect in a plane It is bordering on the lower end of king-tower 2.It is separately connected a upper limit block 26 on two king-tower pillars 23 of 2 inside of king-tower, Described two upper limit blocks 26 are located in plane, and close to the upper end end of king-tower 2.Four king-tower pillars 23 Top be separately connected a king-tower fixed pulley 21, wherein the top of two king-tower pillars 23 be separately connected one admittedly restrict block 22. The outside of four king-tower pillars 23 is separately connected the upper end of a support rod 25, and the lower end of support rod 25 is hinged on pedestal 7 Upper plane.
Referring to Fig. 5~Figure 10, the secondary tower lifting device 3 is equipped with elevator axis 31, two volumes of suit on the elevator axis 31 Raise cylinder 32, installation lifting flexible cable 33 (nylon flexible cable, diameter 16mm) in the outer circle of winding drum 32.Pacify one end of the elevator axis 31 On right support abutment 34, the outside of right support abutment 34 is equipped with ratchet mechanism 35, and the other end of the elevator axis 31 is mounted on left support abutment On 36, and 31 end of the elevator axis installation driven pulley 37 and ratchet mechanism 35, the ratchet mechanism 35 held herein can limit Elevator axis 31 processed is only rotated to a direction.The driven pulley 37 is by two V-shape belts 371 and is mounted on left support abutment 36 Driving pulley 38 connect, the driving pulley 38 is connect by connecting shaft 39 with the first helical gear 391.The Wire driven robot dress Set 4 identical as 3 structure of secondary tower lifting device, Wire driven robot device 4 and secondary tower lifting device 3 are in mirror image along the center line of pedestal 7 It is arranged symmetrically, the Wire driven robot device 4 is equipped with traction flexible cable 41, second connecting rod 42 and the second helical gear 43.Described second tiltedly Gear 43 is identical as 391 structure of the first helical gear.
The elevator axis 31 in the outer circle of suit 32 position of winding drum along being axially arranged with four half slots 311, described half It is equipped with several steel balls 312 in circular groove, is equipped with partition 313 between two winding drums 32.The ratchet mechanism 35 includes ratchet 351, pawl 352, control-rod 353 and first connecting rod 354, the first connecting rod 354 are connect with Shift lever 5, pull out first Connecting rod 354, pawl 352 and ratchet 351 disengage.The second connecting rod 42 is identical as the structure of first connecting rod 354.
The right support abutment 34 includes right gusseted plate 341,342, two right rollers 343 of right slide plate and right bull headction 344, the right gusseted plate 341 is mounted on the upper plane of right slide plate 342, and the downside of right slide plate 342 is equipped with downwardly open U Shape slot, U-lag is interior to install two right rollers 343, and right roller 343 is slided in right bull headction 344.
Left support abutment 36 includes 363, four 361, two connecting shaft support plates 362 of left gusseted plate, left skateboard left rollers 364 and two left bull headctions 365, the left gusseted plate 361 and two connecting shaft support plates 362 be mounted on left skateboard 363 upper plane, the downside of the left skateboard 363 are equipped with two downwardly open U-lags, in two downwardly open U-lags Two left rollers 364 are installed respectively, left roller 364 is slided on left bull headction 365.
The Shift lever 5 include link block 51, two 52, three Shift lever fixing seats 53 of link block with holes, cross tube 54, Sheer pole 55 and shift handle 56, two link block 52, shift handle 56 and link blocks 51 with holes are successively sleeved on cross tube 54 On sheer pole 55, three Shift lever fixing seats 53 are set on the sheer pole 55, the Shift lever fixing seat 53 is fixed on bottom On seat 7.The link block with holes 52 is equipped with upper hole 521 and lower opening 522, and the upper hole 521 and second connecting rod 42 connect, under described Hole 522 is connect with first connecting rod 354.
The driving device 6 includes decelerating motor 61 (61 specification of decelerating motor is GH-22-750-60-A-B type), first Shaft coupling 62 and third helical gear 63, the first shaft coupling 62 and third helical gear 63 are mounted on the output shaft of decelerating motor 61 On.
Secondary tower lifting device 3 and Wire driven robot device 4 are connected by Shift lever 5, when Shift lever 5 is allocated to Wire driven robot device When 4, the first helical gear 391 is engaged with third helical gear 63, and driving device 6 drives secondary tower lifting device 3 to operate and drives secondary tower 1 Lifting.When Shift lever 5 is allocated to secondary tower lifting device 3, the second helical gear 43 is engaged with third helical gear 63, and driving device 6 is driven Dynamic Wire driven robot device 4 operates, and Wire driven robot device 4 is connect by two traction flexible cables 41 with pesticide sprayer 8.
Referring to Figure 11 and Figure 12, the pedestal 7 includes moving trolley 71 and fixed bottom plate 72, and the moving trolley 71 is equipped with Rectangle loading plate, loading plate is equipped with cart handle 717 along the rear end end of direction of advance, on loading plate in plane Between position be equipped with king-tower resettlement groove 711 along its length, king-tower resettlement groove 711 sets that there are two left cunnings on the left of direction of advance Plate resettlement groove 712, king-tower resettlement groove 711 are set on the right side of direction of advance there are two right slide plate resettlement groove 713, king-tower resettlement groove The 711 right side middle position along direction of advance is equipped with gear shifting box 714, in the left side along direction of advance of king-tower resettlement groove 711 Meta position has installed motor cabinet 715, and the position at four angles in downside of loading plate is respectively equipped with a universal wheel 716.Left skateboard peace The top for setting slot 712 is equipped with left U-shaped pressing plate 7121 and left pressing plate 7122, and the top of right slide plate resettlement groove 713 is equipped with right U-shaped pressing plate 7131 and right pressing plate 7132.Right bull headction 344 is fixed on the bottom of right slide plate resettlement groove 713, and left bull headction 365 is fixed on The bottom of left skateboard resettlement groove 712.A universal wheel is respectively equipped on four angles of 72 upper side plane of fixed bottom plate to fix Seat 721, the fixing seat 721 includes two support plates and a studs, with studs substitution universal wheel 716 Universal wheel is fixed on fixed bottom plate 72 by wheel shaft.Referring to Figure 15~Figure 17, the pesticide sprayer 8 include mounting base 81, Petrol engine 82 (82 specification of petrol engine is 18AC-40F type), (gear oil pump, specification are HGP-1A-F1 to pesticide pump 83 Type), atomizer assembly 84, pesticide box 85 and second shaft coupling 62, the mounting base 81 is octagon steel plate, installs bottom Upper side plane installation petrol engine 82, pesticide pump 83 and the pesticide box 85 of plate 81.
The petrol engine 82 is equipped with petrol engine output shaft 821, and the pesticide pump 83 is equipped with pesticide pump input shaft 831, petrol engine output shaft 821 is connected with pesticide pump input shaft 831 by second shaft coupling 87.
The underside plan of mounting base 81 installs atomizer assembly 84, and the pesticide box 85 is the length of two lower parts connection The upper end of cube cabinet, one of rectangular box body is equipped with oil filler 851, and the lower end side of another rectangular box body is equipped with L shape delivery pipe with solenoid valve, the L shape delivery pipe are connected to the import of pesticide pump 83, and the outlet of pesticide pump 83 passes through one Root U-shaped delivery pipe is connect with atomizer assembly 84.It is respectively equipped with four solid rope stakes 86 on the side of the mounting base 81, four The square distribution of a solid rope stake 86, the solid rope stake 86 include two restrict admittedly 861, two, column solid slings 862 and two sliding sleeves 863, the sliding sleeve 863 is sleeved on solid rope column 861, and one end of the solid sling 862 and sliding sleeve 863 connect, Gu sling 862 The other end is equipped with solid cord hole, compresses fastening by the end of solid cord hole and traction flexible cable 41.
Referring to Fig. 1, when work, fixed bottom plate 72 is fixed in advance on four angles in farmland 10, the first flexible cable radio and tape player 91, Second flexible cable radio and tape player 92, third flexible cable radio and tape player 93 and the 4th flexible cable radio and tape player 94 push to agriculture by moving trolley 71 respectively Four angles in field 10, and be fixed on fixed bottom plate 72.First flexible cable radio and tape player 91, the second flexible cable radio and tape player 92, third flexible cable Flexible cable 41 is drawn in radio and tape player 93, the collaboration folding and unfolding of the 4th flexible cable radio and tape player 94, and pesticide sprayer 8 is implemented to the crops in farmland 10 Pesticide spraying.
The above content not makes any form of restriction structure of the invention, shape.All skills according to the present invention Art any simple modification, equivalent change and modification substantially to the above embodiments, still fall within technical solution of the present invention In range.

Claims (10)

1. a kind of vehicle-mounted sprayer of parallel Wire driven robot, including Wire driven robot mechanism (9) and pesticide sprayer (8), described Wire driven robot mechanism (9) includes the identical first flexible cable radio and tape player (91) of structure, the second flexible cable radio and tape player (92), third flexible cable receipts Put machine (93) and the 4th flexible cable radio and tape player (94);The first flexible cable radio and tape player (91), the second flexible cable radio and tape player (92), third are soft Rope radio and tape player (93) and the 4th flexible cable radio and tape player (94) constitute a region, the first flexible cable radio and tape player (91), the second flexible cable folding and unfolding Machine (92), third flexible cable radio and tape player (93) and the 4th flexible cable radio and tape player (94) are connected to agriculture by two traction flexible cables (41) respectively Medicine sprinkler (8) makes pesticide sprayer (8) be suspended on the top in the region, it is characterised in that: the first flexible cable radio and tape player It (91) include secondary tower (1), king-tower (2), secondary tower lifting device (3), Wire driven robot device (4), Shift lever (5), driving device (6) With pedestal (7), the king-tower (2) is four prism type truss structure, and king-tower (2) is upright in the middle position of pedestal (7), The secondary tower (1) is similarly four prism type truss structure, and secondary tower (1) is sleeved on vertically in king-tower (2), the secondary tower lifting dress The upper plane that (3) are located at pedestal (7) is set, and is located at the side of king-tower (2), the Wire driven robot device (4) is located at pedestal (7) Upper plane, and it is located at the other side of king-tower (2), the driving device (6) is arranged in secondary tower lifting device (3) and Wire driven robot fills It sets the middle position of (4), secondary tower lifting device (3) and Wire driven robot device (4) to connect by Shift lever (5), when Shift lever (5) When being allocated to Wire driven robot device (4), driving device (6) driving secondary tower lifting device (3) operates and secondary tower (1) is driven to go up and down, when When Shift lever (5) is allocated to secondary tower lifting device (3), driving device (6) drives Wire driven robot device (4) operating, Wire driven robot dress (4) are set to connect by two traction flexible cables (41) with pesticide sprayer (8);
When work, the first flexible cable radio and tape player (91), the second flexible cable radio and tape player (92), third flexible cable radio and tape player (93), the 4th Flexible cable radio and tape player (94) is respectively arranged on four angles of farmland (10), the first flexible cable radio and tape player (91), the second flexible cable radio and tape player (92), third flexible cable radio and tape player (93), the 4th flexible cable radio and tape player (94) pass through two traction flexible cables (41) for pesticide spraying respectively Device (8) is suspended on the top of farmland (10), the first flexible cable radio and tape player (91), the second flexible cable radio and tape player (92), third flexible cable folding and unfolding Machine (93), the 4th flexible cable radio and tape player (94) collaboration folding and unfolding traction flexible cable (41), pesticide sprayer (8) are implemented in farmland (10) The pesticide spraying of crops.
2. a kind of vehicle-mounted sprayer of parallel Wire driven robot according to claim 1, it is characterised in that: the secondary tower It (1) include four secondary tower pillars (11), two secondary tower fixed pulleys (12), two secondary tower movable pulleys (13), two movable pulley seats (14) and two rope stretching hole seats (15);Four secondary tower pillars (11) are combined into four prism type structure, adjacent two secondary tower branch By the support connection of several round tubes between column (11), the outside of the secondary tower pillar (11) is longitudinally equipped with up and down embedded Sliding slot (111);Corresponding two sides in the upper end end of secondary tower (1) are separately connected a secondary tower fixed pulley (12), secondary tower (1) Two sides of lower end be separately connected a movable pulley seat (14), secondary tower movable pulley is installed on the movable pulley seat (14) (13), described two rope stretching hole seats (15) are connected to the upper end of secondary tower (1), and rope stretching hole seat (15) is equipped with rope hole.
3. a kind of vehicle-mounted sprayer of parallel Wire driven robot according to claim 2, it is characterised in that: the king-tower It (2) include four king-tower fixed pulleys (21), two restrict admittedly block (22), four king-tower pillars (23), two platforms of stopping over (24), four Part support rod (25) and two upper limit blocks (26);Four king-tower pillars (23) are combined into four prism type structure, adjacent By several round tube support connections between two king-tower pillars (23), the inside of the king-tower pillar (23) is longitudinally equipped with buckle-type Sliding rail (231), the buckle-type sliding rail (231) are inserted in embedded sliding slot (111), and can be along embedded sliding slot (111) Lower slider;It is separately connected a platform of stopping over (24) on the inside of the king-tower (2) on two diagonal king-tower pillars (23), described two A platform of stopping over (24) is located in plane, and close to the lower end of king-tower (2);Two on the inside of the king-tower (2) A upper limit block (26) is separately connected on king-tower pillar (23), described two upper limit blocks (26) are located at a plane On, and close to the upper end end of king-tower (2);A king-tower fixed pulley is separately connected at the top of four king-tower pillars (23) (21), wherein being separately connected one at the top of two king-tower pillars (23) restricts block (22) admittedly;Four king-tower pillars (23) Outside is separately connected the upper end of a support rod (25), and the lower end of support rod (25) is hinged on the upper plane of pedestal (7).
4. a kind of vehicle-mounted sprayer of parallel Wire driven robot according to claim 3, it is characterised in that: the secondary tower liter Falling unit (3) is equipped with elevator axis (31), two winding drums (32) of suit on the elevator axis (31), in the outer circle of winding drum (32) Installation lifting flexible cable (33);One end of the elevator axis (31) is mounted on right support abutment (34), and the outside of right support abutment (34) is equipped with The other end of ratchet mechanism (35), the elevator axis (31) is mounted on left support abutment (36), and the elevator axis (31) held herein End installation driven pulley (37) and ratchet mechanism (35), the ratchet mechanism (35) can limit elevator axis (31) only to one Direction rotates;The driven pulley (37) passes through two V-shape belts (371) and the driving pulley being mounted on left support abutment (36) (38) it connects, the driving pulley (38) is connect by connecting shaft (39) with the first helical gear (391);The Wire driven robot device (4) identical as secondary tower lifting device (3) structure, Wire driven robot device (4) is with secondary tower lifting device (3) along the center of pedestal (7) Line arranges that the Wire driven robot device (4) is equipped with traction flexible cable (41), second connecting rod (42) and the second helical gear in mirror symmetry (43), second helical gear (43) is identical as the first helical gear (391) structure.
5. a kind of vehicle-mounted sprayer of parallel Wire driven robot according to claim 4, it is characterised in that: the elevator axis (31) along four half slots (311) are axially arranged in the outer circle of suit winding drum (32) position, if being equipped in the half slot A steel ball (312) is done, is equipped with partition (313) between two winding drums (32);The ratchet mechanism (35) include ratchet (351), Pawl (352), control-rod (353) and first connecting rod (354), the first connecting rod (354) connect with Shift lever (5), are pulled outwardly Dynamic first connecting rod (354), pawl (352) and ratchet (351) disengage, the knot of the second connecting rod (42) and first connecting rod (354) Structure is identical.
6. a kind of vehicle-mounted sprayer of parallel Wire driven robot according to claim 4, it is characterised in that: the right support abutment It (34) include right gusseted plate (341), right slide plate (342), two right rollers (343) and right bull headction (344), the right side Gusseted plate (341) is mounted on the upper plane of right slide plate (342), and the downside of right slide plate (342) is equipped with downwardly open U-shaped Slot, U-lag is interior to install two right rollers (343), and right roller (343) is slided in right bull headction (344);
Left support abutment (36) includes left gusseted plate (361), two connecting shaft support plates (362), left skateboard (363), four left sides Roller (364) and two left bull headctions (365), the left gusseted plate (361) and two connecting shaft support plate (362) peaces Mounted in the upper plane of left skateboard (363), the downside of the left skateboard (363) is equipped with two downwardly open U-lags, and two downwards Two left rollers (364) are installed respectively, left roller (364) is slided on left bull headction (365) in the U-lag of opening.
7. a kind of vehicle-mounted sprayer of parallel Wire driven robot according to claim 4, it is characterised in that: the Shift lever It (5) include link block (51), two link blocks (52) with holes, three Shift lever fixing seats (53), cross tube (54), sheer pole (55) and shift handle (56), two link block (52), shift handle (56) and link blocks (51) with holes are successively sleeved on cross On bar (54) and sheer pole (55), three Shift lever fixing seats (53) are set on the sheer pole (55), the Shift lever is fixed Seat (53) is fixed on pedestal (7);The link block with holes (52) is equipped with upper hole (521) and lower opening (522), the upper hole (521) it is connect with second connecting rod (42) connection, the lower opening (522) with first connecting rod (354).
8. a kind of vehicle-mounted sprayer of parallel Wire driven robot according to claim 4, it is characterised in that: the driving dress Setting (6) includes decelerating motor (61), first shaft coupling (62) and third helical gear (63), the first shaft coupling (62) and third Helical gear (63) is mounted on the output shaft of decelerating motor (61).
9. a kind of vehicle-mounted sprayer of parallel Wire driven robot according to claim 6, it is characterised in that: the pedestal It (7) include moving trolley (71) and fixation bottom plate (72), the moving trolley (71) is equipped with rectangle loading plate, loading plate Cart handle (717) are equipped with along the rear end end of direction of advance, the middle position of plane is equipped with along its length on loading plate King-tower resettlement groove (711), being set on the left of direction of advance there are two left skateboard resettlement groove (712) for king-tower resettlement groove (711) are main Tower resettlement groove (711) is set on the right side of direction of advance there are two right slide plate resettlement groove (713), the edge of king-tower resettlement groove (711) The right side middle position of direction of advance is equipped with gear shifting box (714), the left side interposition along direction of advance of king-tower resettlement groove (711) It has installed motor cabinet (715), the position at four angles in downside of loading plate is respectively equipped with a universal wheel (716);Left skateboard peace The top for setting slot (712) is equipped with left U-shaped pressing plate (7121) and left pressing plate (7122), and the top of right slide plate resettlement groove (713) is equipped with Right U-shaped pressing plate (7131) and right pressing plate (7132);Right bull headction (344) is fixed on the bottom of right slide plate resettlement groove (713), left Bull headction (365) is fixed on the bottom of left skateboard resettlement groove (712);On four angles of fixed bottom plate (72) upper side plane It is respectively equipped with a universal wheel fixing seat (721), the fixing seat (721) includes two support plates and a studs, is used Universal wheel is fixed on fixed bottom plate (72) by the wheel shaft of studs substitution universal wheel (716).
10. a kind of vehicle-mounted sprayer of parallel Wire driven robot according to claim 1, it is characterised in that: the pesticide Sprinkler (8) includes mounting base (81), petrol engine (82), pesticide pump (83), atomizer assembly (84), pesticide box (85) and second shaft coupling (87), the mounting base (81) are octagon steel plate, and the upper side plane of mounting base (81) is pacified Fill petrol engine (82), pesticide pump (83) and pesticide box (85);
The petrol engine (82) is equipped with petrol engine output shaft (821), and the pesticide pump (83) inputs equipped with pesticide pump Axis (831), petrol engine output shaft (821) are connected with pesticide pump input shaft (831) by second shaft coupling (87);Installation The underside plan of bottom plate (81) installs atomizer assembly (84), and the pesticide box (85) is the cuboid box of two lower parts connection The upper end of body, one of rectangular box body is equipped with oil filler (851), and the lower end side of another rectangular box body, which is equipped with, to be had The L shape delivery pipe of solenoid valve, the L shape delivery pipe are connected to the import of pesticide pump (83), and the outlet of pesticide pump (83) passes through one Root U-shaped delivery pipe is connect with atomizer assembly (84);Four solid rope stakes are respectively equipped on the side of the mounting base (81) (86), four solid rope stake (86) square distributions, the solid rope stake (86) include two ropes column (861), two solid slings admittedly (862) be sleeved on solid rope column (861) with two sliding sleeves (863), the sliding sleeve (863), the one end of solid sling (862) and Sliding sleeve (863) connection is pressed Gu the other end of sling (862) is equipped with solid cord hole by the end of solid cord hole and traction flexible cable (41) It is tightly solid.
CN201810216454.0A 2018-03-16 2018-03-16 A kind of vehicle-mounted sprayer of parallel Wire driven robot Active CN108483297B (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203243859U (en) * 2013-05-20 2013-10-23 张国拴 Suspension-type quick mobile platform
CN103831819A (en) * 2014-03-12 2014-06-04 合肥工业大学 Modularized reconstructible soft rope parallel mechanism experiment platform
CN203851681U (en) * 2014-04-25 2014-10-01 黄河科技学院 Four-winch balloon traction type small-scale pesticide sprinkling equipment
CN104440870A (en) * 2014-10-23 2015-03-25 合肥工业大学 Variable structure parameter flexible rope parallel connection robot system and control method
CN205150253U (en) * 2015-11-26 2016-04-13 江西天祥通用航空股份有限公司 Novel helicopter joins externally pesticide spraying machine

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203243859U (en) * 2013-05-20 2013-10-23 张国拴 Suspension-type quick mobile platform
CN103831819A (en) * 2014-03-12 2014-06-04 合肥工业大学 Modularized reconstructible soft rope parallel mechanism experiment platform
CN203851681U (en) * 2014-04-25 2014-10-01 黄河科技学院 Four-winch balloon traction type small-scale pesticide sprinkling equipment
CN104440870A (en) * 2014-10-23 2015-03-25 合肥工业大学 Variable structure parameter flexible rope parallel connection robot system and control method
CN205150253U (en) * 2015-11-26 2016-04-13 江西天祥通用航空股份有限公司 Novel helicopter joins externally pesticide spraying machine

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